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Substituted old deprecated LinAlg with Eigen stuff

This commit is contained in:
Paolo Cignoni 2012-10-11 11:02:52 +00:00
parent 19675a4e33
commit 36c12730d9
1 changed files with 30 additions and 51 deletions
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81
vcg/complex/algorithms/inertia.h
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@ -20,22 +20,6 @@
* for more details. * * for more details. *
* * * *
****************************************************************************/ ****************************************************************************/
/****************************************************************************
History
$Log: not supported by cvs2svn $
Revision 1.3 2006/03/29 10:12:08 corsini
Add cast to avoid warning
Revision 1.2 2005/12/12 12:08:30 cignoni
First working version
Revision 1.1 2005/11/21 15:58:12 cignoni
First Release (not working!)
Revision 1.13 2005/11/17 00:42:03 cignoni
****************************************************************************/
#ifndef _VCG_INERTIA_ #ifndef _VCG_INERTIA_
#define _VCG_INERTIA_ #define _VCG_INERTIA_
@ -56,10 +40,10 @@ journal of graphics tools, volume 1, number 2, 1996
*/ */
#include <vcg/math/matrix33.h> #include <eigenlib/Eigen/Core>
#include <vcg/math/lin_algebra.h> #include <eigenlib/Eigen/Eigenvalues>
#include <vcg/complex/algorithms/update/normal.h> #include <vcg/complex/algorithms/update/normal.h>
namespace vcg namespace vcg
{ {
namespace tri namespace tri
@ -194,7 +178,7 @@ void CompFaceIntegrals(FaceType &f)
void Compute(MeshType &m) void Compute(MeshType &m)
{ {
tri::UpdateNormals<MeshType>::PerFaceNormalized(m); tri::UpdateNormal<MeshType>::PerFaceNormalized(m);
double nx, ny, nz; double nx, ny, nz;
T0 = T1[X] = T1[Y] = T1[Z] T0 = T1[X] = T1[Y] = T1[Z]
@ -266,51 +250,52 @@ void InertiaTensor(Matrix33<ScalarType> &J ){
J[Z][X] = J[X][Z] += T0 * r[Z] * r[X]; J[Z][X] = J[X][Z] += T0 * r[Z] * r[X];
} }
void InertiaTensor(Matrix44<ScalarType> &J ) //void InertiaTensor(Matrix44<ScalarType> &J )
void InertiaTensor(Eigen::Matrix3d &J )
{ {
J.SetIdentity(); J=Eigen::Matrix3d::Identity();
Point3<ScalarType> r; Point3d r;
r[X] = T1[X] / T0; r[X] = T1[X] / T0;
r[Y] = T1[Y] / T0; r[Y] = T1[Y] / T0;
r[Z] = T1[Z] / T0; r[Z] = T1[Z] / T0;
/* compute inertia tensor */ /* compute inertia tensor */
J[X][X] = (T2[Y] + T2[Z]); J(X,X) = (T2[Y] + T2[Z]);
J[Y][Y] = (T2[Z] + T2[X]); J(Y,Y) = (T2[Z] + T2[X]);
J[Z][Z] = (T2[X] + T2[Y]); J(Z,Z) = (T2[X] + T2[Y]);
J[X][Y] = J[Y][X] = - TP[X]; J(X,Y) = J(Y,X) = - TP[X];
J[Y][Z] = J[Z][Y] = - TP[Y]; J(Y,Z) = J(Z,Y) = - TP[Y];
J[Z][X] = J[X][Z] = - TP[Z]; J(Z,X) = J(X,Z) = - TP[Z];
J[X][X] -= T0 * (r[Y]*r[Y] + r[Z]*r[Z]); J(X,X) -= T0 * (r[Y]*r[Y] + r[Z]*r[Z]);
J[Y][Y] -= T0 * (r[Z]*r[Z] + r[X]*r[X]); J(Y,Y) -= T0 * (r[Z]*r[Z] + r[X]*r[X]);
J[Z][Z] -= T0 * (r[X]*r[X] + r[Y]*r[Y]); J(Z,Z) -= T0 * (r[X]*r[X] + r[Y]*r[Y]);
J[X][Y] = J[Y][X] += T0 * r[X] * r[Y]; J(X,Y) = J(Y,X) += T0 * r[X] * r[Y];
J[Y][Z] = J[Z][Y] += T0 * r[Y] * r[Z]; J(Y,Z) = J(Z,Y) += T0 * r[Y] * r[Z];
J[Z][X] = J[X][Z] += T0 * r[Z] * r[X]; J(Z,X) = J(X,Z) += T0 * r[Z] * r[X];
} }
/** Compute eigenvalues and eigenvectors of inertia tensor. /** Compute eigenvalues and eigenvectors of inertia tensor.
The eigenvectors make a rotation matrix that aligns the mesh along the axes of min/max inertia The eigenvectors make a rotation matrix that aligns the mesh along the axes of min/max inertia
*/ */
void InertiaTensorEigen(Matrix44<ScalarType> &EV, Point4<ScalarType> &ev ) void InertiaTensorEigen(Matrix33<ScalarType> &EV, Point3<ScalarType> &ev )
{ {
Matrix44<ScalarType> it; Eigen::Matrix3d it;
InertiaTensor(it); InertiaTensor(it);
Matrix44d EVd,ITd;ITd.Import(it); Eigen::SelfAdjointEigenSolver<Eigen::Matrix3d> eig(it);
Point4d evd; Eigen::Vector3d c_val = eig.eigenvalues();
int n; Eigen::Matrix3d c_vec = eig.eigenvectors();
Jacobi(ITd,evd,EVd,n);
EV.Import(EVd); EV.FromEigenMatrix(c_vec);
ev.Import(evd); ev.FromEigenVector(c_val);
} }
/** Compute covariance matrix of a mesh, i.e. the integral /** Compute covariance matrix of a mesh, i.e. the integral
int_{M} { (x-b)(x-b)^T }dx where b is the barycenter and x spans over the mesh M int_{M} { (x-b)(x-b)^T }dx where b is the barycenter and x spans over the mesh M
*/ */
static void Covariance(const MeshType & m, vcg::Point3<ScalarType> & bary, vcg::Matrix33<ScalarType> &C){ static void Covariance(const MeshType & m, vcg::Point3<ScalarType> & bary, vcg::Matrix33<ScalarType> &C)
{
// find the barycenter // find the barycenter
ConstFaceIterator fi; ConstFaceIterator fi;
ScalarType area = 0.0; ScalarType area = 0.0;
bary.SetZero(); bary.SetZero();
@ -345,15 +330,9 @@ static void Covariance(const MeshType & m, vcg::Point3<ScalarType> & bary, vcg::
const float da = n.Norm(); const float da = n.Norm();
n/=da*da; n/=da*da;
#ifndef VCG_USE_EIGEN
A.SetColumn(0, P1-P0); A.SetColumn(0, P1-P0);
A.SetColumn(1, P2-P0); A.SetColumn(1, P2-P0);
A.SetColumn(2, n); A.SetColumn(2, n);
#else
A.col(0) = P1-P0;
A.col(1) = P2-P0;
A.col(2) = n;
#endif
CoordType delta = P0 - bary; CoordType delta = P0 - bary;
/* DC is calculated as integral of (A*x+delta) * (A*x+delta)^T over the triangle, /* DC is calculated as integral of (A*x+delta) * (A*x+delta)^T over the triangle,